Yaskawa MP940 Reference Manual - Manual (Page 432)

MotionSuite™ MP940 Machine Controller Reference Manual Position Control
11-35
There are also two types of infinite-length position control: a form in
which the axis resets to 0 after one rotation (used in conveyor belts, for
example), and simple unidirecitonal rotation which does not reset after
one rotation.
Position control is selected during axis selection. (Refer to the following
table) Set axis selection in Bit 5 of fixed motion parameter 17 “Motion
Controller Function Selection Flag”.
This is disabled when motion commands (OWC020) are not used (set
linear axis (= 0).
* Set the reset position in fixed motion parameter 23 “Infinite Length Axis Reset Position”.
Position Reference
There are two methods for position reference setting: direct designation
(in which the position reference is direcly set into OLC012), and indirect
designation (in which number of the position buffer where the position
reference is stored in is designated in LOC012).
There are two types of direct designation: absolute position reference type
in which the absolute position is set in LOC012, and the incremental
addition type in which the current motion is added to the previous position
reference (previous value of OLC012), and set into OLC012.
Position Control Type Axis Selection Setting
Linear Position Control Linear Axis (= 0)
Rotary positioning control in one direction
only without reset after one rotation Linear Axis (= 0)
Rotary position control with reset after one
rotation* Infinite Length Axis (= 1)